Dev Call April 17, 2023
April 17, 2023, 10:14pm
**Issues & Pull Requests"
April 18, 2023, 4:08pm
Attendee count (max): 16
common.xml: correct URL we use for board_types.txt by peterbarker · Pull Request #309 · ArduPilot/mavlink · GitHub
Reference our own boards document in mavlink
mavproxy_console.py: use GLOBAL_POSITION_INT for hdg if no VFR_HUD by peterbarker · Pull Request #1173 · ArduPilot/MAVProxy · GitHub
mavproxy: use GLOBAL_POSITION_INT for hdg if no VFR_HUD
map: use command_int when sending ROI by peterbarker · Pull Request #1154 · ArduPilot/MAVProxy · GitHub
Use command int for location in pointing gimbals
LED Output Thread by andyp1per · Pull Request #23019 · ArduPilot/ardupilot · GitHub
Use a thread for outputting LEDs
For long strings of ws8212 for example
ArduPlane: make Plane use more of RC_Channel library for mode switching by peterbarker · Pull Request #21178 · ArduPilot/ardupilot · GitHub
Share mode-changing code between Plane and other vehicles
auxiliary switches could create a stack of modes?
Create data structure for beacon by peterbarker · Pull Request #22211 · ArduPilot/ardupilot · GitHub
Collect NavEKF3 beacon data into a structure
Should we wait for Paul?
AP_Motors: move Thrust Linearization functions and variables to own class by IamPete1 · Pull Request #22787 · ArduPilot/ardupilot · GitHub
AP_Motors: thrust linearisation to own class
Still dependent on having a working baro….
There is a path through AHRS to get the same data, we should use it so we can do clever things with GPS
We should throw temperature in too!
Plane: move guided roll, pitch and throttle overrides upto guided mode by IamPete1 · Pull Request #22926 · ArduPilot/ardupilot · GitHub
Move guided roll/pitch/throttle into guided mode
Rudder arm in auto takeoff only after stick returns
Would be nice to have the same behaviour on Copter
So yaw has to be re-centered before progressing past mot-spin-min
QuadPlane already has this
Airmode and/or AUTO_OPTIONS might have the same problem with rudder arming
Mode1 throttle on right, rudder-elev on left
Elevator deflection happens a lot
Which stops arming
This one makes sure the arming doesn’t happen until it moves back
No spin on Plane to indicate you’re armed
Maybe we could have a MOT_SPIN_ARM
No GCS and no OSD this PR gives you some arming indication by moving a control surface
Need to reset the waiting-for-neutral boolean
Need a flight options bit for the surface movements
Plane: don't trigger RC failsafe until RC has been received for the first time by IamPete1 · Pull Request #23189 · ArduPilot/ardupilot · GitHub
Don’t trigger failsafe unless we have seen RC
Don’t allow arming until you have seen the transmitter
Turn off throttle failsafe to fly without transmitter to be able toarm?
If someone turns off throttle failsafe and an RC transmitter is mis-detected tdue to floating pins then what happens?
Honour the input, which would be bad
Can also turn it to “enable no failsafe”
Maybe RC_PROTOCOLS must be zero
Turn on plane/rc ordering matters
Copter doesn’t run failsafe checks until you arm
We want to make sure failsafes work
Only way to know if things are right is to test them
Copter failsafes but doesn’t take any action
Misdetection of a floating pin could cause an RC failsafe to occur in flight in Copter?
Could change modes?
Stop running detection code by setting RC_PROTOCOLS to 0
Mandatory checks are now being done?
Several ones we should be running
Rc checks, opendroneid and serial protocol stuff
Documentation needed on how to fly with no rC
GCS_MAVLink: deprecate use of MISSION_SET_CURRENT message by peterbarker · Pull Request #23232 · ArduPilot/ardupilot · GitHub
Allow mission-set-current to be compiled out of code
AP_Compass: use new vector methods to make for more compact code by peterbarker · Pull Request #23323 · ArduPilot/ardupilot · GitHub
Use new vector methods to make for more compact code
AP_Scripting: Add ability to read EFI state in scripts by RobertatPegasus · Pull Request #23361 · ArduPilot/ardupilot · GitHub
Allow EFI state to be read in scripts
Need to make these data accessors more efficient…
Bitfields are hard
Range-checks are a bad idea?
Do it in the C++?
Type-based range checks rather than variable semantics
.pre-commit: Enfore code style for AP_DDS by Ryanf55 · Pull Request #23454 · ArduPilot/ardupilot · GitHub
Enforce pre-commit in AP_DDS
Already did astyle in CI
Are we adding barriers?
But it can also lower things if people actually use the pre-commit hooks
AP_Camera: add zoom percent control by rmackay9 · Pull Request #23465 · ArduPilot/ardupilot · GitHub
Add camera zoom-percent-control
CubeOrange and Durandal aren’t sharing code in this PR?!
Maybe look at the elf diff to check out the shared code
UTC0052 - Copter update
Randy’s working on the 4.4 release notes
PR will probably be in today
Late tomorrow might be 4.4beta1
We’ve got a patch to go back to an older method of doing things
Backsliding plane discarded compasses and dropped back to emergency yaw source which was 180-degrees out
Gsf can cause roll/pitch to go off in fbwa
Compass-less planes really want this patch
Tridge has an interface into replay logs for Python
Don’t fly a high-value aircraft on IMU-based-compasses only!
I.e. have a good working yaw sensor
Plane 4.4 son
Attitude pitch/despitch in att
One takes into account trim/pitch cd
Use same pitch reference
Default TECS airspeed to something?
Uses cruise speed
Changed in quadplane for 4.3 to use the half-way between min and max
Landing at full trim speed by default at the moment!
AP_DroneCAN: add length specifier to format print to keep g++ 7.5.0 happy by IamPete1 · Pull Request #23494 · ArduPilot/ardupilot · GitHub
7.5.0 broken Ubuntu 18
Will this work on stm32?!
%hhu probably not on our in-builts?
Should be using our own built-in functions…
We should to move to using our in-built snprintf
That fixes the same problem being looked at here
Chibios uses a wrap list which would’ve changed behaviour
Would’ve failed on stm32
Use 3d velocity for airspeed health by Ryanf55 · Pull Request #23508 · ArduPilot/ardupilot · GitHub
Use 3d velocity for airspeed health
3d velocity from GPS rather than 2d
Airspeed is defined as speed along x axis
But at high alphas that’s not right
Support for modifying the airspeed measurements from pitot based on angle of attack?
As soon as you exceed 45 degrees the maths go screwy
What happens in a tail-slide?
What happens if you’re being blown downwind?
Fly-forward/zero side-slip assumption is made in master and in this code
Project along x-axis and use that?
Data loop if you use your orientation here
AP_HAL_ChibiOS: correct MatekH743 storage size by Hwurzburg · Pull Request #23530 · ArduPilot/ardupilot · GitHub
Correct MatekH743 storage size
make default FW approach land speed the same as Qplane by Hwurzburg · Pull Request #23531 · ArduPilot/ardupilot · GitHub
Fix plane approach speed fbwa_min and max rather than at trim
post-flare code needs to be adjusted
Add convenient Quaternion::to_euler(Vector3f &rpy) by peterbarker · Pull Request #23514 · ArduPilot/ardupilot · GitHub
A convenience to_euler function
Merge based on experiment with x/y/z
UTC0139 - DroneCAN thing
MatekH743 single-bus CAN bug
Will be merged soon
UTC0139 - GSoC update
Applications are being reviewed
Some good applications came in!
Decisions need to be made by next Thursday
UTC0141 - close